From 9da86c601c2a45dfc92108651e5ed0df770c9fc3 Mon Sep 17 00:00:00 2001
From: nyatla <nyatla@7cac0a50-4618-4814-88d0-24b83990f816>
Date: Wed, 26 Aug 2009 10:42:05 +0000
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---
 .../sandbox/x2/SquareContourDetector_X2.java       | 215 +++++++++++++++++++++
 1 file changed, 215 insertions(+)
 create mode 100644 sample/sandbox/jp/nyatla/nyartoolkit/sandbox/x2/SquareContourDetector_X2.java

diff --git a/sample/sandbox/jp/nyatla/nyartoolkit/sandbox/x2/SquareContourDetector_X2.java b/sample/sandbox/jp/nyatla/nyartoolkit/sandbox/x2/SquareContourDetector_X2.java
new file mode 100644
index 0000000..4e8a6db
--- /dev/null
+++ b/sample/sandbox/jp/nyatla/nyartoolkit/sandbox/x2/SquareContourDetector_X2.java
@@ -0,0 +1,215 @@
+package jp.nyatla.nyartoolkit.sandbox.x2;
+
+import jp.nyatla.nyartoolkit.NyARException;
+import jp.nyatla.nyartoolkit.core.param.NyARCameraDistortionFactor;
+import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint2d;
+import jp.nyatla.nyartoolkit.core.types.NyARIntPoint2d;
+import jp.nyatla.nyartoolkit.core.types.NyARIntSize;
+import jp.nyatla.nyartoolkit.core.types.NyARLinear;
+import jp.nyatla.nyartoolkit.core.squaredetect.*;
+import jp.nyatla.nyartoolkit.core2.types.NyARI64Linear;
+import jp.nyatla.nyartoolkit.core2.types.NyARI64Point2d;
+import jp.nyatla.nyartoolkit.core2.types.matrix.NyARI64Matrix22;
+
+public class SquareContourDetector_X2
+{
+	private final int PCA_LENGTH=20;
+	private final int[] _xpos=new int[PCA_LENGTH];
+	private final int[] _ypos=new int[PCA_LENGTH];
+	private final int[] __detectMarker_mkvertex = new int[5];
+	private final NyARFixedFloatVertexCounter __getSquareVertex_wv1 = new NyARFixedFloatVertexCounter();
+	private final NyARFixedFloatVertexCounter __getSquareVertex_wv2 = new NyARFixedFloatVertexCounter();
+	private final NyARFixedFloatPca2d _pca;
+	private final NyARI64Matrix22 __getSquareLine_evec=new NyARI64Matrix22();
+	private final NyARI64Point2d __getSquareLine_mean=new NyARI64Point2d();
+	private final NyARI64Point2d __getSquareLine_ev=new NyARI64Point2d();
+	private final NyARI64Linear[] __getSquareLine_i64liner=NyARI64Linear.createArray(4);
+	private final NyARFixedFloatObserv2IdealMap _dist_factor;
+	public SquareContourDetector_X2(NyARIntSize i_size,NyARCameraDistortionFactor i_distfactor_ref)
+	{
+		//歪み計算テーブルを作ると、8*width/height*2の領域を消費します。
+		//領域を取りたくない場合は、i_dist_factor_refの値をそのまま使ってください。
+		this._dist_factor = new NyARFixedFloatObserv2IdealMap(i_distfactor_ref,i_size);
+
+
+		// 輪郭バッファは頂点変換をするので、輪郭バッファの２倍取る。
+		this._pca=new NyARFixedFloatPca2d();
+		return;
+	}
+
+	public boolean coordToSquare(int[] i_xcoord,int[] i_ycoord,int i_st_index,int i_coord_num,int i_label_area,NyARSquare o_square) throws NyARException
+	{
+
+		final int[] mkvertex = this.__detectMarker_mkvertex;
+
+		// 頂点情報を取得
+		if (!getSquareVertex(i_xcoord, i_ycoord, i_st_index, i_coord_num, i_label_area, mkvertex)) {
+			// 頂点の取得が出来なかったので破棄
+			return false;
+		}
+		// マーカーを検出
+		if (!getSquareLine(mkvertex, i_xcoord, i_ycoord, o_square)){
+			// 矩形が成立しなかった。
+			return false;
+		}
+		return true;
+	}
+	
+	private boolean getSquareLine(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARSquare o_square) throws NyARException
+	{
+		final NyARLinear[] l_line = o_square.line;
+		final NyARI64Matrix22 evec=this.__getSquareLine_evec;
+		final NyARI64Point2d mean=this.__getSquareLine_mean;
+		final NyARI64Point2d ev=this.__getSquareLine_ev;
+		final NyARI64Linear[] i64liner=this.__getSquareLine_i64liner;
+	
+		for (int i = 0; i < 4; i++) {
+//			final double w1 = (double) (i_mkvertex[i + 1] - i_mkvertex[i] + 1) * 0.05 + 0.5;
+			final int w1 = ((((i_mkvertex[i + 1] - i_mkvertex[i] + 1)<<8)*13)>>8) + (1<<7);
+			final int st = i_mkvertex[i] + (w1>>8);
+			final int ed = i_mkvertex[i + 1] - (w1>>8);
+			int n = ed - st + 1;
+			if (n < 2) {
+				// nが2以下でmatrix.PCAを計算することはできないので、エラー
+				return false;
+			}
+			//配列作成
+			n=this._dist_factor.observ2IdealSampling(i_xcoord, i_ycoord, st, n,this._xpos,this._ypos,PCA_LENGTH);
+			//主成分分析する。
+			this._pca.pcaF16(this._xpos,this._ypos, n,evec, ev,mean);
+			final NyARI64Linear l_line_i = i64liner[i];
+			l_line_i.run = evec.m01;// line[i][0] = evec->m[1];
+			l_line_i.rise = -evec.m00;// line[i][1] = -evec->m[0];
+			l_line_i.intercept = -((l_line_i.run * mean.x + l_line_i.rise * mean.y)>>16);// line[i][2] = -(line[i][0]*mean->v[0] + line[i][1]*mean->v[1]);
+		}
+
+		final NyARDoublePoint2d[] l_sqvertex = o_square.sqvertex;
+		final NyARIntPoint2d[] l_imvertex = o_square.imvertex;
+		for (int i = 0; i < 4; i++) {
+			final NyARI64Linear l_line_i = i64liner[i];
+			final NyARI64Linear l_line_2 = i64liner[(i + 3) % 4];
+			final long w1 =(l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise)>>16;
+			if (w1 == 0) {
+				return false;
+			}
+			l_sqvertex[i].x = (double)((l_line_2.rise * l_line_i.intercept - l_line_i.rise * l_line_2.intercept) / w1)/65536.0;
+			l_sqvertex[i].y = (double)((l_line_i.run * l_line_2.intercept - l_line_2.run * l_line_i.intercept) / w1)/65536.0;
+			// 頂点インデクスから頂点座標を得て保存
+			l_imvertex[i].x = i_xcoord[i_mkvertex[i]];
+			l_imvertex[i].y = i_ycoord[i_mkvertex[i]];
+			l_line[i].run=(double)l_line_i.run/65536.0;
+			l_line[i].rise=(double)l_line_i.rise/65536.0;
+			l_line[i].intercept=(double)l_line_i.intercept/65536.0;
+		}
+		return true;
+	}	
+	private boolean getSquareVertex(int[] i_x_coord, int[] i_y_coord, int i_vertex1_index, int i_coord_num, int i_area, int[] o_vertex)
+	{
+		final NyARFixedFloatVertexCounter wv1 = this.__getSquareVertex_wv1;
+		final NyARFixedFloatVertexCounter wv2 = this.__getSquareVertex_wv2;
+		final int end_of_coord = i_vertex1_index + i_coord_num - 1;
+		final int sx = i_x_coord[i_vertex1_index];// sx = marker_info2->x_coord[0];
+		final int sy = i_y_coord[i_vertex1_index];// sy = marker_info2->y_coord[0];
+		int dmax = 0;
+		int v1 = i_vertex1_index;
+		for (int i = 1 + i_vertex1_index; i < end_of_coord; i++) {// for(i=1;i<marker_info2->coord_num-1;i++)
+			// {
+			final int d = (i_x_coord[i] - sx) * (i_x_coord[i] - sx) + (i_y_coord[i] - sy) * (i_y_coord[i] - sy);
+			if (d > dmax) {
+				dmax = d;
+				v1 = i;
+			}
+		}
+		//final double thresh = (i_area / 0.75) * 0.01;
+		final long thresh_f16 =(i_area<<16)/75;
+
+		o_vertex[0] = i_vertex1_index;
+
+		if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v1, thresh_f16)) { // if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,0,v1,thresh,wv1,&wvnum1)<
+																					// 0 ) {
+			return false;
+		}
+		if (!wv2.getVertex(i_x_coord, i_y_coord, v1, end_of_coord, thresh_f16)) {// if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,v1,marker_info2->coord_num-1,thresh,wv2,&wvnum2)
+			// < 0) {
+			return false;
+		}
+
+		int v2;
+		if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {// if(wvnum1 == 1 && wvnum2== 1) {
+			o_vertex[1] = wv1.vertex[0];
+			o_vertex[2] = v1;
+			o_vertex[3] = wv2.vertex[0];
+		} else if (wv1.number_of_vertex > 1 && wv2.number_of_vertex == 0) {// }else if( wvnum1 > 1 && wvnum2== 0) {
+			//頂点位置を、起点から対角点の間の1/2にあると予想して、検索する。
+			v2 = (v1-i_vertex1_index)/2+i_vertex1_index;
+			if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v2, thresh_f16)) {
+				return false;
+			}
+			if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh_f16)) {
+				return false;
+			}
+			if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {
+				o_vertex[1] = wv1.vertex[0];
+				o_vertex[2] = wv2.vertex[0];
+				o_vertex[3] = v1;
+			} else {
+				return false;
+			}
+		} else if (wv1.number_of_vertex == 0 && wv2.number_of_vertex > 1) {
+			//v2 = (v1-i_vertex1_index+ end_of_coord-i_vertex1_index) / 2+i_vertex1_index;
+			v2 = (v1+ end_of_coord)/2;
+
+			if (!wv1.getVertex(i_x_coord, i_y_coord, v1, v2, thresh_f16)) {
+				return false;
+			}
+			if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh_f16)) {
+				return false;
+			}
+			if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {
+				o_vertex[1] = v1;
+				o_vertex[2] = wv1.vertex[0];
+				o_vertex[3] = wv2.vertex[0];
+			} else {
+				return false;
+			}
+		} else {
+			return false;
+		}
+		o_vertex[4] = end_of_coord;
+		return true;
+	}
+	
+	/**
+	 * 輪郭線の矩形検出開始ポイントを特定して、座標を並べ替えます。
+	 * 輪郭線の先頭から、対角線が最長になる点を１点検索し、それより前の区間をバッファの後方に接続します。
+	 * 戻り値は対角線が最長になった点です。関数終了後、返却値+i_coord_numの要素が有効になります。
+	 * @param i_xcoord
+	 * @param i_ycoord
+	 * @param i_coord_num
+	 * @return
+	 */
+	public static int normalizeCoord(int[] i_coord_x, int[] i_coord_y,int i_coord_num)
+	{
+		//
+		final int sx = i_coord_x[0];
+		final int sy = i_coord_y[0];
+		int d = 0;
+		int w, x, y;
+		int ret = 0;
+		for (int i = 1; i < i_coord_num; i++) {
+			x = i_coord_x[i] - sx;
+			y = i_coord_y[i] - sy;
+			w = x * x + y * y;
+			if (w > d) {
+				d = w;
+				ret = i;
+			}
+			// ここでうまく終了条件入れられないかな。
+		}		
+		// vertex1を境界にして、後方に配列を連結
+		System.arraycopy(i_coord_x, 1, i_coord_x, i_coord_num, ret);
+		System.arraycopy(i_coord_y, 1, i_coord_y, i_coord_num, ret);
+		return ret;
+	}	
+	
+}
\ No newline at end of file
-- 
2.11.0